/*******************************************************************************
 * Copyright (C) 2013 Jeremy Brodt and Kevin Gillespie
 * Description: Wall Following
 *         $Id: wall.h 5 2013-12-18 04:48:03Z brodtj1212@gmail.com $
 *******************************************************************************
 */

#ifndef _WALL_H_
#define _WALL_H_

/***** Definitions *****/
#define NUM_WALLS         2

#define WALL_NONE         0
#define WALL_OPEN_RIGHT   1
#define WALL_OPEN_LEFT    2

#define WALL_INVALID      -1
#define WALL_OPENING      -2

/***** Global Data *****/
extern int wall_dist[NUM_WHEELS];
extern int wall_lock[NUM_WALLS];

/***** Function Prototypes *****/
void wall_init(void);
void wall_task(int expL, int expR);
void wall_alarm_set(int type, void (*func)(void));
void wall_alarm_clr(void);

#endif /* _WALL_H_ */
